CN103317512A - Extensible spherical robot mechanism - Google Patents

Abstract

The invention discloses a telescopic spherical robot mechanism, which includes an outer ball frame, a ball-induced telescopic mechanism, and a rolling mechanism. The outer ball frame is composed of connecting blocks and connecting rods connected through hinges to form three mutually perpendicular circular The frame is a parallelogram mechanism of the main frame and 6 square frames; the ball-induced telescopic mechanism includes a left fixed plate and a right fixed plate, and the left fixed plate and the right fixed plate are fixed on the connecting block; The telescopic mechanism and the rolling mechanism are connected through a central shaft. This mechanism can work in a more complex environment. When the movement space is relatively wide, the size of the ball can be enlarged. The large ball moves fast and has good moving performance. When it is in a relatively narrow space, it can reduce its size so that through narrow spaces.

Description

Scalable spherical robotic mechanism

technical field

The invention relates to a retractable spherical robot mechanism, which belongs to the technical field of robots.

technical background

Spherical robot refers to a general term for a system that installs motion actuators, sensors, controllers, and energy devices in a spherical shell, and realizes spherical motion through internal drive. Because this type of robot has good dynamic and static balance, and has good sealing performance, it can drive in unmanned, sandy, humid, and corrosive harsh environments, and has amphibious functions. It can be used in planetary exploration, environmental monitoring, national defense equipment, entertainment and other fields. At present, the spherical robot can exhibit good mobility characteristics, but in some applications, it may need to pass through some narrow spaces, and the size of the spherical robot cannot change, so it cannot pass through these narrow spaces.

Contents of the invention

The purpose of the present invention is to overcome the disadvantage that the size of the shape of the existing spherical robot cannot be changed with the change of the environment, and propose a scalable spherical robot mechanism.

In order to achieve the above-mentioned purpose, the present invention adopts following technical scheme:

A scalable spherical robot mechanism, including an outer ball frame, a ball telescopic mechanism, and a rolling mechanism. The outer ball frame is composed of connecting blocks and connecting rods connected through hinges, forming three mutually perpendicular circular frames as the main frame and the parallelogram mechanism of 6 square frames; the said ball telescoping mechanism comprises a left fixed plate and a right fixed plate, and said left fixed plate and a right fixed plate are fixed on said connecting block; said ball telescopic mechanism and rolling The mechanisms are connected by a central axis.

The said ball telescopic mechanism also includes a left telescopic motor, a right telescopic motor, a left lead screw, a right lead screw and a central shaft; two screw holes are arranged on the said central shaft, which cooperate with the left lead screw and the right lead screw, so that The left telescopic motor is fixed on the left fixed plate, and the right telescopic motor is fixed on the right fixed plate. The output shaft of the left telescopic motor is connected to the left screw, and the output shaft of the right telescopic motor is connected to the right screw to drive the left screw and the right screw respectively. lead screw, so that the left lead screw and the right lead screw do feed motion in the axial direction of the central shaft.

The rolling mechanism includes a main motor, a sleeve, an adjustment motor, a lead screw, a mass block, a polished rod and a pinion; the sleeve cooperates with the central shaft, the main motor is fixed on the central shaft, and the output shaft of the main motor is connected The pinion has an internal gear hole on the sleeve, and the pinion meshes with the internal gear hole on the sleeve. The adjustment motor is fixed on the sleeve, and the output shaft of the adjustment motor is connected to the lead screw, which cooperates with the mass block. , one end of the polished rod is fixed on the sleeve, and the other end is matched with the mass block; through gear transmission, the mass block is deflected in a certain direction, so that the center of gravity of the spherical robot is not on the same vertical line as the contact point between the spherical robot and the ground Above, gravity generates an overturning moment relative to the contact point, causing the spherical robot to overturn toward the center of gravity, thereby driving the spherical robot to roll; the polished rod constrains the mass block so that the mass block itself cannot rotate, and prevents the mass block from colliding with the outer ball when the spherical robot stretches. The frame interferes.

Compared with the prior art, the present invention has the following significant advantages:

This mechanism can work in a more complicated environment. When the movement space is relatively wide, the size of the ball can be enlarged. The large ball moves fast and has good moving performance. When it is in a relatively narrow space, it can reduce its size so that through narrow spaces.

Description of drawings

Figure 1 is a schematic diagram of the overall design of the mechanism.

Figure 2 is a schematic diagram of a circular frame.

Fig. 3 is a schematic diagram of the spherical robot's telescoping mechanism.

Fig. 4 is a schematic diagram of a rolling mechanism of a spherical robot.

Fig. 5 is a schematic diagram of the reduction function realized by the mechanism.

Detailed ways

The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

As shown in Figures 1 and 2, a telescopic spherical robot mechanism includes an outer ball frame, a ball telescopic mechanism, and a rolling mechanism. Linked to form three mutually perpendicular circular frames as the parallelogram mechanism of the main frame and six square frames; The right fixing plate 8 is fixed on the connecting block 14; the ball telescoping mechanism and the rolling mechanism are connected through the central shaft 5.

As shown in Figure 3, the said ball telescopic mechanism also includes a left telescopic motor 1, a right telescopic motor 2, a left lead screw 3, a right lead screw 4 and a central shaft 5; said central shaft 5 has two screw holes , cooperate with the left lead screw 3 and the right lead screw 4, the left telescopic motor 1 is fixed on the left fixed plate 7, the right telescopic motor 2 is fixed on the right fixed plate 8, and the output shaft of the left telescopic motor 1 is connected to the left wire Bar 3, right telescopic motor 2 output shafts connect right leading screw 4, drive left leading screw 3 and right leading screw 4 respectively, make left leading screw 3 and right leading screw 4 do feed motion on the axial direction of central shaft 5.

As shown in Figure 4, the rolling mechanism includes a main motor 6, a sleeve 9, an adjustment motor 10, a screw 11, a mass 12, a polished rod 13 and a pinion 18; the sleeve 9 cooperates with the central shaft 5, and the The main motor 6 is fixed on the central shaft 5, the output shaft of the main motor 6 is connected to the pinion 18, the sleeve 9 has an internal gear hole, the pinion 18 is meshed with the internal gear hole on the sleeve 9, and the adjustment The motor 10 is fixed on the sleeve 9, the output shaft of the adjustment motor 10 is connected to the lead screw 11, the lead screw 11 cooperates with the mass block 12, one end of the polished rod 13 is fixed on the sleeve 9, and the other end cooperates with the mass block 12; Through gear transmission, the mass block 12 is deflected in a certain direction, so that the center of gravity of the spherical robot is not on the same vertical line as the contact point between the spherical robot and the ground, and gravity generates an overturning moment relative to the contact point, making the spherical robot move towards the center of gravity The direction is overturned, thereby driving the spherical robot to roll; the polished rod 13 constrains the mass block 12, so that the mass block 12 cannot rotate itself, and prevents the mass block 12 from interfering with the outer spherical frame when the spherical robot stretches.

As shown in FIG. 5 , the spherical telescopic mechanism changes the diameter of the outer spherical frame, which enables the spherical robot to work in a narrow environment. the

Claims (3)

1. A scalable spherical robot mechanism, including an outer ball frame, a ball telescopic mechanism, and a rolling mechanism, characterized in that the outer ball frame is connected by a connecting block (14) and a connecting rod (15) through a hinge (16). Composed of connections, three mutually perpendicular circular frames are formed as the main frame and a parallelogram mechanism of six square frames; the ball-induced telescopic mechanism includes a left fixed plate (7) and a right fixed plate (8), and the left fixed plate The plate (7) and the right fixed plate (8) are fixed on the connecting block (14); the ball telescoping mechanism and the rolling mechanism are connected through a central shaft (5). 2. A scalable spherical robot mechanism according to claim 1, characterized in that, the spherical telescopic mechanism also includes a left telescopic motor (1), a right telescopic motor (2), a left lead screw (3), The right lead screw (4) and the central shaft (5); two screw holes are opened on the central shaft (5) to cooperate with the left lead screw (3) and the right lead screw (4), and the left telescopic motor ( 1) Fixed on the left fixed plate (7), the right telescopic motor (2) is fixed on the right fixed plate (8), the output shaft of the left telescopic motor (1) is connected to the left screw (3), the right telescopic motor ( 2) The output shaft is connected to the right lead screw (4), respectively drives the left lead screw (3) and the right lead screw (4), so that the left lead screw (3) and the right lead screw (4) are on the axis of the central shaft (5) Feed movement in the direction. 3. A scalable spherical robot mechanism according to claim 1, characterized in that the rolling mechanism includes a main motor (6), a sleeve (9), an adjustment motor (10), a lead screw (11), Mass block (12), polished rod (13) and pinion (18); the sleeve (9) cooperates with the central shaft (5), the main motor (6) is fixed on the central shaft (5), and the main motor The output shaft of (6) is connected to the pinion (18), the sleeve (9) has an internal gear hole, the pinion (18) meshes with the internal gear hole on the sleeve (9), and the adjustment motor (10 ) is fixed on the sleeve (9), the output shaft of the adjustment motor (10) is connected to the lead screw (11), the lead screw (11) is matched with the mass block (12), and one end of the polished rod (13) is fixed on the sleeve (9), the other end cooperates with the mass block (12); through gear transmission, the mass block (12) is deflected in a certain direction, so that the center of gravity of the spherical robot and the contact point between the spherical robot and the ground are not on the same vertical line , the gravity generates an overturning moment relative to the contact point, causing the spherical robot to overturn toward the center of gravity, thereby driving the spherical robot to roll; the polished rod (13) constrains the mass (12), so that the mass (12) cannot rotate itself, preventing the spherical robot from rotating. When stretching, the mass block (12) interferes with the outer ball frame.

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